Hoisting device and method for nuclear power station reactor cavity mobile robot

Abstract

The invention provides a hoisting device and method for a reactor cavity mobile robot of a nuclear power station reactor. The hoisting device comprises a supporting bottom plate, a hoisting device and a lifting device, the baffles on the two sides are oppositely installed on the two sides of the supporting bottom plate, and automatic locking devices are arranged at the two ends of the baffles and are close to the supporting base; the two side movable plates are oppositely connected with the two sides of the supporting bottom plate in a rotating mode and located between the baffles on the two sides. The plurality of lifting belts are connected with the upper part of the movable plate and are used for lifting the lifting device; movable plate clamping hooks are arranged at the two ends of the inner wall face of the movable plate, when the hoisting device is hoisted, the movable plate is closed under the traction of the hoisting belt, the automatic locking device and the corresponding movable plate clamping hooks are locked, and the hoarding hoisting device is formed. The lifting device is simple in structure and small in size, can be used for lifting the nuclear power station reactor cavity mobile robot, and is also feasible for lifting other types of mobile robots.

Description

Technical Field

[0001] The present invention relates to the technical field of robot hoisting, and in particular to a hoisting device and method for a mobile robot in a reactor cavity of a nuclear power plant. Background Art

[0002] In the nuclear power sector, nuclear power plants pose a radiation hazard to personnel, particularly in the reactor cavity prior to decontamination. The cavity is subject to high radiation doses, with a high concentration of boron crystals, nuclear fuel debris, activated impurities, and other high-dose substances on the bottom and walls. Therefore, operations within the reactor cavity are often performed using mobile robots.

[0003] Because nuclear power plants have strict requirements for lifting objects, lifting objects without safety equipment is not allowed. In the past, the lifting rings on the mobile robot were often used to complete the mobile robot's entry and exit in the reactor cavity.

[0004] However, this method requires manual entry into the reactor cavity to remove the buckles and straps from the mobile robot, a process that not only shortens the reactor cavity operation time but also increases the radiation dose to the lifting personnel.

[0005] Patent CN116853929A proposes a "hoisting tool for a nuclear power pool decontamination robot." The robot can be hoisted into a nuclear power pool, unhooked, and then retrieved. However, the hoisting device requires a live controller to control the extension and retraction of a locking mechanism, which poses a risk of controller failure in high-radiation environments.

[0006] At the same time, the limiting component mentioned in the patent is relatively low in height, which poses a risk of tipping over when hoisting the decontamination robot with a higher center of gravity.

[0007] In addition, the bottom support mechanism of the hoisting device is at a certain height from the ground, which is not conducive to the decontamination robot being able to detach from the hoisting mechanism on its own.

[0008] Therefore, nuclear power plants are in urgent need of a hoisting device that is unmanned on site, purely mechanized, has a high guardrail height, can quickly detach the mobile robot, has a recyclable hoisting device, and is used for mobile robots in the reactor cavity of nuclear power plants.

[0009] In view of this, the inventors of the present application have designed a hoisting device and method for a mobile robot in the reactor cavity of a nuclear power plant, in order to overcome the above-mentioned technical problems. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the lifting device in the nuclear power plant is easy to overturn, and to provide a lifting device and method for a mobile robot in the reactor cavity of a nuclear power plant.

[0011] The present invention solves the above technical problems through the following technical solutions:

[0012] A hoisting device for a mobile robot in a reactor cavity of a nuclear power plant is characterized in that the hoisting device comprises:

[0013] Support base plate;

[0014] Two side baffles, the baffles are relatively installed on both sides of the support base, and the two ends of the baffles are provided with automatic locking devices close to the support base;

[0015] Two side movable plates, the movable plates are rotatably connected to the two sides of the supporting base plate relative to each other and are between the baffles on both sides;

[0016] a plurality of lifting straps connected to the upper portion of the movable plate and used for lifting the lifting device;

[0017] Movable plate hooks are provided at both ends of the inner wall surface of the movable plate. When the lifting device is lifted, the movable plate is closed under the traction of the lifting belt, and the automatic locking device is locked with the corresponding movable plate hooks to form a lifting device for the enclosure.

[0018] According to one embodiment of the present invention, the automatic locking device is a gas spring assembly.

[0019] According to one embodiment of the present invention, the gas spring assembly includes a gas spring and a gas spring staple installed together as a whole. The gas spring is installed at the lower parts of both ends of the outer wall surface of the baffle. The gas spring staple is passed through the outer wall surface of the baffle to the inner wall surface of the baffle and is located above the movable plate hook.

[0020] According to one embodiment of the present invention, the gas spring staple is configured to be hook-shaped and matched with the movable plate hook.

[0021] According to one embodiment of the present invention, the movable plate and the supporting base plate are connected by a hinge.

[0022] According to one embodiment of the present invention, a sling stopper ring is provided on the upper part of both sides of each movable plate.

[0023] According to one embodiment of the present invention, the sling stop ring is located above the corresponding baffle.

[0024] According to one embodiment of the present invention, a lifting ring is provided on the inner side of each of the lifting belt retaining rings.

[0025] According to one embodiment of the present invention, a plurality of support columns are provided at the bottom end of the support base plate for supporting the ground.

[0026] The present invention also provides a method for hoisting a mobile robot for a nuclear power plant reactor cavity, wherein the method adopts the hoisting device for the mobile robot for a nuclear power plant reactor cavity as described above, and the method comprises the following steps:

[0027] S1. Before the mobile robot operates, the mobile robot and the lifting device are located in the foreign matter prevention control area outside the reactor cavity of the nuclear power plant, and the mobile robot is controlled to drive onto the supporting base plate of the lifting device;

[0028] S2. The lifting belts are hooked on the lifting rings from the outside of the lifting ring retaining rings, and then the lifting device is lifted into the bottom of the reactor cavity;

[0029] S3: After the hoisting device reaches the bottom of the reactor cavity, the mobile robot drives out of the supporting base of the hoisting device, and then moves the hoisting device away to provide the mobile robot with an obstacle-free working space;

[0030] S4. After the mobile robot completes its operation, the lifting device is hoisted into the reactor cavity, and the mobile robot drives into the deployed lifting device. It is then lifted out of the reactor cavity to the foreign matter control area. After the lifting device and mobile robot are decontaminated, they are transferred to the designated storage point of the nuclear power plant.

[0031] The positive progress effect of the present invention is:

[0032] The hoisting device and method for a mobile robot in a reactor cavity of a nuclear power plant according to the present invention have the following advantages:

[0033] 1. The lifting device has a simple structure and a small size. It can be used not only for lifting mobile robots in the reactor cavity of nuclear power plants, but also for lifting other types of mobile robots.

[0034] 2. The hoisting device is purely mechanized, and the probability of failure in hoisting operations is low;

[0035] 3. The lifting device utilizes its own structural design to quickly load and remove the mobile robot, reducing the lifting operation time;

[0036] 4. Since the lifting device has a small supporting area, it will not be contaminated with a large amount of high-dose substances, which is conducive to the decontamination work after the lifting device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which like reference numerals represent like features throughout, wherein:

[0038] Figure 1 The present invention is a three-dimensional diagram of a hoisting device for a mobile robot in a reactor cavity of a nuclear power plant.

[0039] Figure 2 The figure is a schematic diagram of the deployment of the hoisting device of the present invention for the mobile robot in the reactor cavity of a nuclear power plant after hoisting.

[0040] Figure 3 The figure is a schematic diagram of the assembly of the hoisting device of the present invention for a mobile robot for a nuclear power plant reactor cavity.

[0041] Figure 4 The figure is a side view of the hoisting device of the present invention for a mobile robot in the reactor cavity of a nuclear power plant.

[0042] Figure 5 The figure is a schematic diagram of the deployment of the lifting device of the present invention for the mobile robot in the reactor cavity of a nuclear power plant after landing.

[0043] Figure 6 The present invention is a schematic diagram of the installation of a gas spring assembly and a movable plate hook in a hoisting device for a mobile robot in a nuclear power plant reactor cavity.

[0044] Reference numerals

[0045] Support base 10

[0046] Baffle 20

[0047] Activity board 30

[0048] Active plate hook 31

[0049] Gas spring assembly 40

[0050] Gas spring 41

[0051] Gas spring staple 42

[0052] Sling retaining ring 32

[0053] Rings 33

[0054] Support column 11

[0055] Hinge 50 DETAILED DESCRIPTION

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0057] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to represent the same or similar parts.

[0058] Furthermore, although the terms used in the present invention are selected from well-known and commonly used terms, some terms mentioned in the present specification may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description herein.

[0059] Furthermore, it is required that the present invention be understood not only by the actual terms used but also by the meanings lying behind each term.

[0060] like Figures 1 to 5 As shown, the present invention discloses a hoisting device for a mobile robot in a nuclear power plant reactor cavity, comprising: a support base 10, two side baffles 20, two side movable panels 30, and multiple lifting straps (not shown). The baffles 20 are mounted on opposite sides of the support base 10, with automatic locking devices installed at both ends of the baffles 20, close to the support base 10. The baffles 20 can preferably have an inverted trapezoidal structure, allowing the movable panels 30 to automatically expand to the sides under their own weight.

[0061] The movable plate 30 is relatively rotatably connected to both sides of the support base 10 and between the two side baffles 20. The lifting belt is connected to the upper part of the movable plate 30 for lifting the lifting device. Here, the height of the movable plate 30 is preferably set higher than the height of the baffle 20.

[0062] The movable plate 30 is connected to the support base 10 via a hinge 50. When unfolded, it provides a path away from the support base 10, forming a downward ramp when entering the reactor cavity floor, and an upward ramp when entering the mobile robot transport box or driving onto a certain height step.

[0063] The design of the movable plate 30 not only allows the mobile robot to drive away from the lifting device support plate without vertical drop, but also provides an obstacle-free buffer ramp when the mobile robot enters a step with a certain height.

[0064] At the same time, movable plate hooks 31 are provided at both ends of the inner wall surface of the movable plate 30. When the lifting device is lifted, the movable plate 30 is closed under the traction of the lifting belt, and the automatic locking device is locked with the corresponding movable plate 30 hook to form a lifting device for the enclosure.

[0065] Preferably, the automatic locking device is a gas spring assembly 40. The gas spring assembly 40 preferably includes a gas spring 41 and a gas spring staple 42 that are mounted together as a whole. The gas spring 41 is mounted at the lower ends of the outer wall of the baffle 20. The gas spring staple 42 is passed from the outer wall of the baffle 20 to the inner wall of the baffle 20 and is located above the movable plate hook 31.

[0066] When the hoisting device falls to the ground after being lifted, the gas spring 41 will shrink due to its own weight, so that the pins on the gas spring 41 will be disengaged from the hooks on the movable plate, so that the movable plate can be disengaged from the baffles 20 on both sides.

[0067] When the lifting device is lifted, the gas spring 41 pops out, and the gas spring pin 42 after popping out will tightly clamp the movable plate hook to prevent the lifting device from shaking during the lifting process or the movable plate from detaching from the two side baffles when the mobile robot slides on the supporting base plate, causing the risk of the mobile robot falling out of the mobile device.

[0068] Here, the gas spring clamp 42 is configured to be hook-shaped and matched with the movable plate hook 31. The movable plate 30 and the supporting base plate 10 are preferably connected by a hinge.

[0069] Further preferably, a sling stopper 32 is provided on the upper part of both sides of each movable plate 30, and the sling stopper 32 is preferably provided above the corresponding baffle 20. The sling stopper can prevent the sling from falling into the inside of the lifting device when the movable plate is unfolded, affecting the mobile robot in and out of the support base.

[0070] In addition, a lifting ring 33 is provided on the inner side of each lifting belt retaining ring 32 .

[0071] Furthermore, a plurality of support columns 11 are provided at the bottom end of the support base plate 10 for ground support. The support columns 11 elevate the support base plate 10 to a certain height, preventing the hoisting device from coming into large-scale contact with the reactor cavity floor, which is in an undecontaminated, water-stained, or high-radiation state, when it is hoisted into the reactor cavity. This effectively reduces the contamination of the hoisting device with high-dose substances, thereby reducing the need for decontamination of the hoisting device after the reactor cavity hoisting work is completed. The hoisting device and the items on the mobile robot's non-nuclear island must be transported out of the nuclear island after the mobile robot's operation is completed. However, before being transported out of the nuclear island, the hoisting device and the mobile robot must be decontaminated to meet the standards specified by the nuclear power plant before they can be transported out of the nuclear island.

[0072] According to the above structure, the present invention is used for a hoisting device for a mobile robot in a nuclear power plant reactor cavity. When the hoisting device is raised, the movable plate 30 is pulled closed by the sling, and together with the supporting base plate 10 and the side baffles 20, it forms a hoisting device that supports the mobile robot and provides a protective barrier. After the hoisting device is completely lifted off the ground, the gas spring 41 springs open, and the gas spring pin 42 on the gas spring 41 pushes downward to engage the movable plate hook 31, thereby firmly securing the movable plate 30 to the side baffles 20.

[0073] When the hoisting device shakes or the mobile robot slides on the supporting base plate 10 during the hoisting process, the movable plate 30 will not be separated from the baffles 20 on both sides, making the entire hoisting process safer and more reliable.

[0074] When the hoisting device reaches the designated position and lands on the ground, the four gas springs on the two side baffles 20 will be compressed by the weight of the hoisting device itself, so that the gas spring 41 is flush with the support column 11. Due to the retraction of the gas spring 41, the gas spring pin 42 on the gas spring 41 is disengaged from the movable plate hook 31.

[0075] The side baffles 20 are preferably inverted trapezoidal structures. As the slings hooked onto the four lifting rings 33 continue to be lowered, the two movable plates 30 continue to tilt to the sides under the influence of their own weight until they are close to the reactor cavity floor. During this process, the sling retaining rings 32 prevent the slings from falling into the lifting device and thus obstructing the mobile robot supporting the upper and lower lifting devices.

[0076] The retraction of the gas spring 41 is caused by the gravity after the lifting device falls to the ground, and the rebound of the gas spring 41 is caused by the lifting device leaving the ground. In the present invention, the movable plate 30 can be designed on only one side, and the spring can be a gas spring or a mechanical spring.

[0077] The hoisting device for a mobile robot in the reactor cavity of a nuclear power plant addresses the problems existing in the prior art and makes up for the various deficiencies of the prior art, ensuring that the hoisting device meets the hoisting requirements of the nuclear power plant and can meet the hoisting work of mobile robots in the reactor cavity of different sizes and types. It also has certain characteristics, such as a simple and purely mechanized device structure, a high device guardrail, and the mobile robot can quickly detach from the hoisting device without any vertical height difference.

[0078] The hoisting device for a mobile robot in a nuclear power plant reactor cavity comprises a support base, two side baffles, and two movable panels. The two movable panels are connected to the support base via hinges, which work with gas springs and movable panel hooks to secure and release the movable panels. The hoisting device is simple in structure and easy to use, allowing the mobile robot to easily enter and exit the support base. The mobile robot's enclosure protection during the hoisting process is achieved by securing the movable panels with gas spring pins. When the robot lands, the weight of the hoisting device causes the gas springs to contract, disengaging the gas spring pins from the movable panel hooks, thereby enabling the movable panels to automatically deploy.

[0079] The present invention also provides a method for hoisting a mobile robot for a nuclear power plant reactor cavity, wherein the method adopts the hoisting device for the mobile robot for a nuclear power plant reactor cavity as described above, and the method comprises the following steps:

[0080] S1. Before the mobile robot operates, the mobile robot and the lifting device are located in the foreign matter prevention control area outside the reactor cavity of the nuclear power plant, and the mobile robot is controlled to drive onto the supporting base plate of the lifting device;

[0081] S2. The lifting belts are hooked onto the lifting rings from the outside of the lifting ring retaining rings, and then the lifting device is lifted into the bottom of the reactor cavity;

[0082] S3: After the hoisting device reaches the bottom of the reactor cavity, the mobile robot drives out of the supporting base of the hoisting device, and then moves the hoisting device away to provide the mobile robot with an obstacle-free working space;

[0083] S4. After the mobile robot completes its operation, the lifting device is hoisted into the reactor cavity, and the mobile robot drives into the deployed lifting device. It is then lifted out of the reactor cavity to the foreign matter control area. After the lifting device and mobile robot are decontaminated, they are transferred to the designated storage point of the nuclear power plant.

[0084] For those skilled in the art, the above invention disclosure is intended only as an example and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and amendments to this application. Such modifications, improvements, and amendments are suggested in this application and remain within the spirit and scope of the exemplary embodiments of this application.

[0085] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or multiple times in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0086] Similarly, it should be noted that, in order to simplify the description of the present disclosure and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of the present disclosure sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of the present disclosure requires more features than those recited in the claims. In fact, the features of an embodiment may be fewer than the total features of a single embodiment disclosed above.

[0087] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A hoisting device for a mobile robot in a nuclear power plant reactor cavity, characterized in that: The hoisting device comprises: Support base plate; Two side baffles, the baffles are relatively installed on both sides of the support base, and the two ends of the baffles are provided with automatic locking devices close to the support base; Two side movable plates, the movable plates are rotatably connected to the two sides of the supporting base plate relative to each other and are between the baffles on both sides; a plurality of lifting straps connected to the upper portion of the movable plate and used for lifting the lifting device; Movable plate hooks are provided at both ends of the inner wall surface of the movable plate. When the lifting device is lifted, the movable plate is closed under the traction of the lifting belt, and the automatic locking device is locked with the corresponding movable plate hooks to form a lifting device for the enclosure.

2. The hoisting device for a mobile robot in a reactor cavity of a nuclear power plant according to claim 1, characterized in that: The automatic locking device is a gas spring assembly.

3. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 2, characterized in that: The gas spring assembly includes a gas spring and a gas spring staple installed together as a whole. The gas spring is installed at the lower parts of both ends of the outer wall of the baffle. The gas spring staple is passed from the outer wall of the baffle to the inner wall of the baffle and is located above the movable plate hook.

4. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 3, characterized in that: The gas spring clamp is configured in a hook shape that matches the movable plate hook.

5. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 1, characterized in that: The movable plate and the supporting base plate are connected by a hinge.

6. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 1, characterized in that: The upper parts of both sides of each movable plate are respectively provided with sling stop rings.

7. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 6, characterized in that: The sling baffle ring is located above the corresponding baffle.

8. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 6, characterized in that: A lifting ring is arranged on the inner side of each lifting belt retaining ring.

9. The hoisting device for a mobile robot in a nuclear power plant reactor cavity according to claim 1, characterized in that: A plurality of support columns are provided at the bottom end of the support base plate for supporting the ground.

10. A method for hoisting a mobile robot for a nuclear power plant reactor cavity, characterized in that: The hoisting method adopts the hoisting device for a nuclear power plant reactor cavity mobile robot according to any one of claims 1 to 9, and the hoisting method comprises the following steps: S1. Before the mobile robot operates, the mobile robot and the lifting device are located in the foreign matter prevention control area outside the reactor cavity of the nuclear power plant, and the mobile robot is controlled to drive onto the supporting base plate of the lifting device; S2. The lifting belts are hooked onto the lifting rings from the outside of the lifting ring retaining rings, and then the lifting device is lifted into the bottom of the reactor cavity; S3: After the hoisting device reaches the bottom of the reactor cavity, the mobile robot drives out of the supporting base of the hoisting device, and then moves the hoisting device away to provide the mobile robot with an obstacle-free working space; S4. After the mobile robot completes its operation, the lifting device is hoisted into the reactor cavity, and the mobile robot drives into the deployed lifting device. It is then lifted out of the reactor cavity to the foreign matter control area. After the lifting device and mobile robot are decontaminated, they are transferred to the designated storage point of the nuclear power plant.

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